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| author | Anton <rk3dov@gmail.com> | 2013-03-30 21:30:58 +0400 |
|---|---|---|
| committer | Anton <rk3dov@gmail.com> | 2013-03-30 21:30:58 +0400 |
| commit | 114685a40bf38dc4281224ea18f898b6159df037 (patch) | |
| tree | 07497fe63e3b2c1d44badc10521d9e7aa0c8347c /apps/position_estimator_inav/position_estimator_inav_params.h | |
| parent | 72b8abca22d467dc2ab7ebcd5cdc286cf80c97ad (diff) | |
| download | px4-firmware-114685a40bf38dc4281224ea18f898b6159df037.tar.gz px4-firmware-114685a40bf38dc4281224ea18f898b6159df037.tar.bz2 px4-firmware-114685a40bf38dc4281224ea18f898b6159df037.zip | |
position_estimator_inav - first working version
Diffstat (limited to 'apps/position_estimator_inav/position_estimator_inav_params.h')
| -rw-r--r-- | apps/position_estimator_inav/position_estimator_inav_params.h | 31 |
1 files changed, 25 insertions, 6 deletions
diff --git a/apps/position_estimator_inav/position_estimator_inav_params.h b/apps/position_estimator_inav/position_estimator_inav_params.h index c45ca8135..694bf015b 100644 --- a/apps/position_estimator_inav/position_estimator_inav_params.h +++ b/apps/position_estimator_inav/position_estimator_inav_params.h @@ -1,9 +1,7 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Damian Aregger <daregger@student.ethz.ch> - * Tobias Naegeli <naegelit@student.ethz.ch> - * Lorenz Meier <lm@inf.ethz.ch> + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin <rk3dov@gmail.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -43,11 +41,32 @@ #include <systemlib/param/param.h> struct position_estimator_inav_params { - float r; + float k[3][2]; + int16_t acc_offs[3]; + float acc_T[3][3]; }; struct position_estimator_inav_param_handles { - param_t r; + param_t k_alt_00; + param_t k_alt_01; + param_t k_alt_10; + param_t k_alt_11; + param_t k_alt_20; + param_t k_alt_21; + + param_t acc_offs_0; + param_t acc_offs_1; + param_t acc_offs_2; + + param_t acc_t_00; + param_t acc_t_01; + param_t acc_t_02; + param_t acc_t_10; + param_t acc_t_11; + param_t acc_t_12; + param_t acc_t_20; + param_t acc_t_21; + param_t acc_t_22; }; /** |